#

vincentlu

2025-01-13 89c7f6e5bcc21b0e8f83a2bc6d680e2ffe431e6f

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/FuncStaServiceImpl.java

@@ -73,8 +73,8 @@

            if (funcSta.getType().equals(FuncStaType.CHARGE.toString())) {
                // if the type of this funSta is charge and the existing agv is in charge status, then that means this funSta is occupied
                if (null != agv) {
                    AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
                if (null != agv && !agv.getId().equals(agvId)) {
                    AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
                    AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
                    if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                        if (agvDetail.getVol() < agvModel.getQuaBattery()) {
@@ -96,7 +96,7 @@

                // if there is a running task whose destination is this funSta, then that means this funSta is occupied
                if (0 < taskService.count(new LambdaQueryWrapper<Task>()
                        .eq(Task::getTaskType, TaskTypeType.TO_CHARGE.val())
                        .in(Task::getTaskType, TaskTypeType.TO_STANDBY.val(), TaskTypeType.TO_CHARGE.val())
                        .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
                        .eq(Task::getDestCode, code)
                )) {
@@ -110,7 +110,11 @@
                if (null == agv) {
                    // if there is a running task whose destination is this funSta, then that means this funSta is occupied
                    if (0 < taskService.count(new LambdaQueryWrapper<Task>()
                            .eq(Task::getTaskType, TaskTypeType.TO_STANDBY.val())
                            .in(Task::getTaskType
                                    , TaskTypeType.TO_STANDBY.val()
                                    , TaskTypeType.TO_CHARGE.val()
                                    , TaskTypeType.MOVE.val()
                            )
                            .in(Task::getTaskSts, TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val())
                            .eq(Task::getDestCode, code)
                    )) {
@@ -118,10 +122,13 @@
                    }

                } else {
                    // if there is an agv on the code of this funSta, should we let this agv leave?
                    // we need to judge whether the agv went to this funSta based on a task which in GO_STANDBY type
                    if (!agv.getId().equals(agvId)) {
                        // if there is an agv on the code of this funSta, should we let this agv leave?
                        // we need to judge whether the agv went to this funSta based on a task which in GO_STANDBY type

//                    Task latestTaskByAgv = taskService.findLatestTask(existAgv.getId());
                        return false;
                    }

                }
            }
@@ -182,7 +189,7 @@

                agv = agvService.findByPosition(funcSta.getCode());
                if (null != agv) {
                    AgvModel agvModel = agvModelService.getById(agv.getAgvModel());
                    AgvModel agvModel = agvModelService.getByAgvId(agv.getId());
                    AgvDetail agvDetail = agvDetailService.selectByAgvId(agv.getId());
                    if (agvDetail.getAgvStatus().equals(AgvStatusType.CHARGE)) {
                        return false;